<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.17"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>State Lattice Planner: include/state_lattice_planner/trajectory_viewer.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">State Lattice Planner
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('trajectory__viewer_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">trajectory_viewer.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef __TRAJECTORY_VIEWER_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define __TRAJECTORY_VIEWER_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;tf/tf.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Twist.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/OccupancyGrid.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/MarkerArray.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;tf/tf.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;tf/transform_listener.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;omp.h&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="motion__model__diff__drive_8h.html">trajectory_generator/motion_model_diff_drive.h</a>&gt;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="trajectory__generator__diff__drive_8h.html">trajectory_generator/trajectory_generator_diff_drive.h</a>&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;state_lattice_planner/lookup_table_utils.h&quot;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="class_trajectory_viewer.html">   25</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_trajectory_viewer.html">TrajectoryViewer</a></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;{</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="class_trajectory_viewer_1_1_sampling_params.html">   28</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keywordtype">int</span> n_p;<span class="comment">// num of sampling positions</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="keywordtype">int</span> n_h;<span class="comment">// num of sampling angle by position</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keywordtype">double</span> length;<span class="comment">// sample trajectory length</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keywordtype">double</span> max_alpha;<span class="comment">// max trajectories angle</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        <span class="keywordtype">double</span> min_alpha;<span class="comment">// min trajectories angle</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keywordtype">double</span> span_alpha;<span class="comment">// max - min alpha</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keywordtype">double</span> max_psi;<span class="comment">// max heading angle</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordtype">double</span> min_psi;<span class="comment">// min trajectories angle</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keywordtype">double</span> span_psi;<span class="comment">// max - min psi</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    };</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="class_trajectory_viewer.html">TrajectoryViewer</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">void</span> process(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordtype">void</span> local_goal_callback(<span class="keyword">const</span> geometry_msgs::PoseStampedConstPtr&amp;);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">void</span> local_map_callback(<span class="keyword">const</span> nav_msgs::OccupancyGridConstPtr&amp;);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">void</span> target_velocity_callback(<span class="keyword">const</span> geometry_msgs::TwistConstPtr&amp;);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">void</span> generate_biased_polar_states(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> Eigen::Vector3d&amp;, <span class="keyword">const</span> <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a>&amp;, <span class="keywordtype">double</span>, std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">void</span> sample_states(<span class="keyword">const</span> std::vector&lt;double&gt;&amp;, <span class="keyword">const</span> <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a>&amp;, std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">bool</span> generate_trajectories(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, std::vector&lt;MotionModelDiffDrive::Trajectory&gt;&amp;);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">bool</span> pickup_trajectory(<span class="keyword">const</span> std::vector&lt;MotionModelDiffDrive::Trajectory&gt;&amp;, <span class="keyword">const</span> Eigen::Vector3d&amp;, <a class="code" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a>&amp;);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">void</span> load_lookup_table(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">void</span> get_optimized_param_from_lookup_table(<span class="keyword">const</span> Eigen::Vector3d, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">double</span> get_target_velocity(<span class="keyword">const</span> Eigen::Vector3d&amp;);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">void</span> swap(<span class="keywordtype">double</span>&amp;, <span class="keywordtype">double</span>&amp;);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">void</span> visualize_trajectories(<span class="keyword">const</span> std::vector&lt;MotionModelDiffDrive::Trajectory&gt;&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> ros::Publisher&amp;);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> visualize_trajectory(<span class="keyword">const</span> <a class="code" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a>&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> ros::Publisher&amp;);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">double</span> HZ;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    std::string ROBOT_FRAME;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">int</span> N_P;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">int</span> N_H;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">int</span> N_S;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">double</span> MAX_ALPHA;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">double</span> MAX_PSI;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">double</span> MAX_ACCELERATION;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">double</span> TARGET_VELOCITY;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    std::string LOOKUP_TABLE_FILE_NAME;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">int</span> MAX_ITERATION;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">double</span> OPTIMIZATION_TOLERANCE;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">double</span> MAX_YAWRATE;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">double</span> MAX_D_YAWRATE;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span> MAX_WHEEL_ANGULAR_VELOCITY;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">double</span> WHEEL_RADIUS;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">double</span> TREAD;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">bool</span> VERBOSE;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">double</span> V0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">double</span> K0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    ros::NodeHandle nh;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    ros::NodeHandle local_nh;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    ros::Publisher candidate_trajectories_pub;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    ros::Publisher selected_trajectory_pub;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    ros::Subscriber local_goal_sub;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    ros::Subscriber target_velocity_sub;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    geometry_msgs::PoseStamped local_goal;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    geometry_msgs::Twist current_velocity;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">bool</span> local_goal_updated;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="class_trajectory_viewer_1_1_sampling_params.html">SamplingParams</a> sampling_params;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    LookupTableUtils::LookupTable lookup_table;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;};</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor">#endif //__TRAJECTORY_VIEWER_H</span></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_trajectory_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a></div><div class="ttdoc">Class representing a trajectory.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:139</div></div>
<div class="ttc" id="atrajectory__generator__diff__drive_8h_html"><div class="ttname"><a href="trajectory__generator__diff__drive_8h.html">trajectory_generator_diff_drive.h</a></div></div>
<div class="ttc" id="aclass_trajectory_viewer_1_1_sampling_params_html"><div class="ttname"><a href="class_trajectory_viewer_1_1_sampling_params.html">TrajectoryViewer::SamplingParams</a></div><div class="ttdef"><b>Definition:</b> trajectory_viewer.h:28</div></div>
<div class="ttc" id="amotion__model__diff__drive_8h_html"><div class="ttname"><a href="motion__model__diff__drive_8h.html">motion_model_diff_drive.h</a></div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_control_params_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a></div><div class="ttdoc">Class containing VelocityParams and AngularVelocityParams.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:117</div></div>
<div class="ttc" id="aclass_trajectory_viewer_html"><div class="ttname"><a href="class_trajectory_viewer.html">TrajectoryViewer</a></div><div class="ttdef"><b>Definition:</b> trajectory_viewer.h:25</div></div>
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_ec79a29e18fe559612c39185026633c4.html">state_lattice_planner</a></li><li class="navelem"><b>trajectory_viewer.h</b></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
  </ul>
</div>
</body>
</html>
